Some results on the autonomous trajectory generation and adaptive control of industrial robots

✍ Scribed by S. Tzafestas; B. Kalobatsos; G. Stavrakakis; A. Zagorianos

• Publisher: Elsevier Science
• Year: 1992
• Tongue: English
• Weight: 710 KB
• Volume: 329
• Category: Article
• ISSN: 0016-0032
• DOI: 10.1016/0016-0032(92)90091-t

✦ Synopsis

Part I of this paper presents a study of an autonomous trajectory generation system (ATGS) which is useful for industrial robots carrying out mechanical operations. It is a very simple job with such an ATGS to generate planar curved trajectories f(x, y) = 0, an attractive factor in such applications. Two alternative variations of the ATGS are presented which possess particular characteristics. Part II deals with the trajectory control problem and uses the ATGS as a first stage of a model reference adaptive control loop of a robot. The theoretical results are illustrated by simulation examples worked out using the software packages developed for this purpose.